Imitation Control in Biped Robot by Using Controller to Operator

J. H. Lee, Y. F. Cui, S. G. Shon, and H. J. Byun

Abstract—This study describes a robot that can be remotely
imitation controlled by an operator wearing a special suit with
sensors to facilitate various movements. Remote controlled
robot has quite different body structure and control strategy.
Traditionally, robot is controlled by preset commands which
are calculated from the requirements to keep balance. However,
our robot control command is issued by operator instead of
robot itself. Balancing imitation control algorithm is designed
and implemented to walk without falling down. All the
trajectories such as turn, stop, start, walk, etc, are determined
by the operator. Finally, experiment result shows that this kind
of new control method can be applied on various areas.

Yifenf Cui is with the College of Computer Science and Technology of
Shandong University of Technology Linyi University of China
(chiyifeng2008@gmail.com).
Junho Lee, Sugoog Shon and Heejung Byun are with the Department of
Information and telecommunication Engineering, Suwon University, Korea
(e-mail: junho_fly@naver.com; sshon@suwon.ac.kr;
heejungbyun@suwon.ac.kr).